Foot pedal apparatus for use with a workstation controlling a robotic surgery system

ABSTRACT

A foot pedal apparatus for use with a workstation operated by a seated user in controlling a robotic surgery system is disclosed. In some embodiments, the apparatus includes a platform mountable to the workstation proximate a floor surface on which the workstation is located. The apparatus also includes a first pedal mounted on the platform and having an upwardly disposed actuation surface, and a second pedal mounted vertically elevated with respect to the first pedal and having an upwardly disposed actuation surface, the second pedal having at least a proximate portion vertically overlapping a distal portion of the first pedal such that the first and second pedals have a mounted depth in a direction away from the user that is less than a sum of the respective individual depths of the first and second pedals.

BACKGROUND 1. Field

This disclosure relates generally to a workstation for controlling asurgical apparatus and more particularly to a foot pedal apparatusassociated with the workstation.

2. Description of Related Art

In robotic systems, such as surgical robotic systems, a workstationconsole may be provided to control a remotely located instrument throughuser input provided to an input device on the console. The user may berequired to operate the workstation console for an extended period oftime, and the comfort of the user may thus be of concern since userfatigue may result. Some workstations, in addition to hand controls thatare grasped and operated by the user, may include one or more footpedals that when actuated cause various surgical operations to beeffected.

SUMMARY

In accordance with some embodiments, there is provided a foot pedalapparatus for use with a workstation located on a floor surface andoperated by a seated user in controlling a robotic surgery system. Theapparatus includes a platform mountable to the workstation proximate thefloor surface. The apparatus also includes a first pedal mounted on theplatform and having an upwardly disposed actuation surface, and a secondpedal mounted vertically elevated with respect to the first pedal andhaving an upwardly disposed actuation surface. The second pedal has atleast a proximate portion vertically overlapping a distal portion of thefirst pedal such that the first and second pedals have a mounted depthin a direction away from the user that is less than a sum of therespective individual depths of the first and second pedals.

The second pedal may be oriented at an angle to the floor surface tofacilitate engagement of the actuation surface by a forefoot portion ofthe user's foot while the user's heel is resting on the floor surfaceand acting as a pivot for movement of the user's foot.

The first pedal may be oriented at an angle to the floor surface and thevertical overlap between the proximate portion of the second pedal andthe distal portion of the first pedal may be selected to preventinadvertent engagement of the actuation surface of the first pedal whileactuating the second pedal.

The vertical overlap between the proximate portion of the second pedaland the distal portion of the first pedal may be selected to cause themounted depth of the first and second pedals to be about 200 mm.

The vertical overlap may be at least about 12 mm.

The actuation surface of the second pedal may be oriented at an angle ofabout 14° with respect to the floor surface.

The actuation surface of the first pedal may be oriented at an angle ofabout 7° with respect to the floor surface.

The platform may be pivotably mounted to the workstation at a pivotpoint on the platform proximally located with respect to the user,thereby facilitating tilting of the platform to increase the respectiveangles of the actuation surfaces of the first and second pedals withrespect to the floor surface to facilitate ergonomic operation of thefirst and second pedals by the feet of a user seated in the chair andhaving a seat portion at a reclining angle, the increase in the anglesof the actuation surfaces generally corresponding to the reclining angleof the seat portion of the chair.

The actuation surface of the second pedal may be oriented at an angle ofabout 14° with respect to the seat portion of the chair and theactuation surface of the first pedal may be oriented at an angle ofabout 7° with respect to the seat portion.

The workstation may include an input device and hand controllersoperable to generate input signals, and the platform may be configuredto attach to the workstation at a position forward of the user's handswhen seated in a chair in front of the workstation and grasping the handcontrollers to permit the user's feet to be extended away from the chairfor ergonomic operation of the first and second pedals.

The platform may include a sliding mount for mounting to theworkstation, the sliding mount being operable to facilitate positioningthe first and second pedals in an ergonomic position in accordance witha user's preferences.

The apparatus may include at least one additional pedal mounted on theplatform spaced apart from the first and second pedals, and the firstand second pedals may be mounted on the platform for accessibility byone foot of the user while the at least one additional pedal is mountedon the platform for accessibility by the other foot of the user.

The apparatus may include a third pedal mounted on the platform andhaving an upwardly disposed actuation surface, the third pedal beingadjacent to the first pedal and correspondingly oriented, and a fourthpedal mounted vertically elevated with respect to the third pedal andhaving an upwardly disposed actuation surface, the fourth pedal beingadjacent to the second pedal and correspondingly oriented.

The first, second, third and fourth pedals may be mounted closelyadjacent on the platform for accessibility by the same foot of the user.

The apparatus may further include a barrier disposed between the firstand third pedals and a barrier disposed between the second and fourthpedals, the barriers each protruding above the actuation surfaces of therespective pedals.

Each of the first, second, third and fourth pedals, when actuated, mayproduce respective input signals for controlling the robotic surgerysystem.

The workstation may be supported on a wheeled base and the platform maybe pivotably mounted to the workstation to facilitate raising theplatform with respect to the floor surface when moving the workstation.

Other embodiments and features will become apparent to those ordinarilyskilled in the art upon review of the following description of specificdisclosed embodiments in conjunction with the accompanying figures.

BRIEF DESCRIPTION OF THE DRAWINGS

In drawings which illustrate disclosed embodiments,

FIG. 1 is a perspective view of a robotic surgery system in accordancewith some embodiments;

FIG. 2 is a side view of a workstation of the robotic surgery systemshown in FIG. 1;

FIG. 3 is a perspective view of a foot pedal apparatus of theworkstation shown in FIG. 2;

FIG. 4 is a cross sectional view of a platform portion of the foot pedalapparatus, taken along the lines 4-4 in FIG. 3;

FIG. 5 is a schematic view of a user's foot and first and second pedalsof the foot pedal apparatus shown in FIG. 3;

FIG. 6 is another perspective view of the foot pedal apparatus of theworkstation shown in FIG. 2 in accordance with some embodiments;

FIG. 7 is a perspective view of the foot pedal apparatus with theplatform in a raised position according to some embodiments;

FIG. 8 is a side view of a workstation of the robotic surgery systemshown in FIG. 1 in accordance with some embodiments; and

FIG. 9 is a schematic view of a user's foot and first and second pedalsof the foot pedal apparatus shown in FIG. 3 for the workstation shown inFIG. 8 according to some embodiments.

DETAILED DESCRIPTION

Referring to FIG. 1, a robotic surgery system is shown generally at 100.The robotic surgery system 100 includes a workstation 102 and a roboticsurgery apparatus 104. The robotic surgery apparatus 104 includes atleast one instrument 106 mounted on a moveable instrument mount 108 thathouses an instrument drive (not shown) for manipulating the instrument.The workstation 102 includes an input device 110 for use by a user(generally a surgeon) for controlling the instrument 106 via theinstrument drive to perform surgical operations on a patient. The inputdevice 110 may be implemented using a haptic interface device availablefrom Force Dimension, of Switzerland, for example. The input device 110shown in FIG. 1 includes a right input device 112 having a right handcontroller 114 and a left input device 116 having a left hand controller118, the hand controllers being mechanically coupled to the respectiveinput devices. In some embodiments the instrument 106 includes a rightside instrument and a left side instrument (not shown) and movement ofthe right and left hand controllers 114 and 118 controls movements ofthe respective right and left instruments.

In this embodiment the workstation 102 is in communication with therobotic surgery apparatus 104 via an interface cable 120 fortransmitting signals between the workstation and the instrument. Inputsignals are generated by the right and left input devices 112 and 116 inresponse to movement of the hand controllers 114 and 118 by the user andthe instrument 106 is spatially positioned in response to the inputsignals.

The workstation 102 also includes a display 122 for displaying real timeimages and/or other graphical depictions of the surgical workspaceproduced by a camera (not shown) associated with the instrument 106. Thedisplay 122 may further be operable to provide other visual feedbackand/or instructions to the user. The workstation 102 is supported on awheeled base 124 permitting the workstation to be moved over a floorsurface 126 for relocating the workstation. The workstation 102 furtherincludes a foot pedal apparatus 130 having a platform 132 that ismounted to the workstation proximate the floor surface 126.

A side view of a user 200 seated in a chair 202 for operating theworkstation 102 is shown in FIG. 2. Referring to FIG. 2, the user 200grasps the hand controllers 114, 118 of the input device 110 and theuser's right foot 204 is positioned to operate the foot pedal apparatus130. In the embodiment shown, the foot pedal apparatus 130 is mounted tothe workstation 102 at a position forward of the hands of the user 200when seated in the chair 202 in front of the workstation and graspingthe hand controllers 114, 118 causing the user's feet to be extendedaway from the chair for ergonomic operation of the workstation.

The foot pedal apparatus 130 is shown in isolation in FIG. 3 andincludes a first pedal 300 mounted on the platform 132 and having anupwardly disposed actuation surface 302. Referring to FIG. 3, the footpedal apparatus 130 also includes a second pedal 304 mounted verticallyelevated with respect to the first pedal 300 and having an upwardlydisposed actuation surface 306. The platform 132 portion of the footpedal apparatus 130 is shown in FIG. 4 in a cross sectional view takenalong the lines 4-4 shown in FIG. 3. The second pedal 304 has at least aproximate portion 400 vertically overlapping a distal portion 402 of thefirst pedal 300. In the embodiment shown in FIG. 3 the degree of overlapis indicated by the overlap dimension d₀. The first and second pedalsthus have a mounted depth D in a direction away from the user. The depthD is less than a sum of the respective individual depths d₁ and d₂ ofthe first and second pedals 300 and 304. In some embodiments thevertical overlap d₀ may be selected to cause the mounted depth D of thefirst and second pedals 300 and 304 to be about 200 mm. The overlapdimension d₀ may be about 12 mm or greater. The platform 132 shown inFIG. 3 is a tiered platform, but in other embodiments it may beotherwise configured for mounting of the first pedal 300 and secondpedal 304.

Engagement of the first and second pedals 300 and 304 by the foot 204 ofthe user 200 is depicted in schematic view in FIG. 5. Referring to FIG.5, the first pedal 300 is oriented at an angle to the floor surface 126.In this embodiment the first pedal 300 is oriented at an angle α₁ to thefloor surface 126. The angle α₁ is selected to facilitate engagement ofthe actuation surface 306 of the second pedal 304 by a forefoot portion500 of the user's foot 204 while the user's heel 502 is resting on thefloor surface and acting as a pivot for movement of the user's foot. Inthe embodiment shown in FIG. 5, the second pedal 304 is oriented at anangle α₂ to the floor surface 126. The angles α₁, α₂ and the verticaloverlap d₀ (shown in FIG. 4) are selected to prevent inadvertentengagement of the actuation surface 302 of the first pedal 300 whileactuating the second pedal 304 with the forefoot portion 500 of theuser's foot. As shown in FIG. 5, the pivoting of the user's foot 204 atthe heel 502 in combination with the location and angles of the firstand second pedals 300 and 304 place the actuation surface 302 of thefirst pedal below an arch portion 504 of the user's foot. In theembodiment shown in FIG. 5, the angle α₁ may be about 7° with respect tothe floor surface 126 and the angle α₂ may be about 14° with respect tothe floor surface.

As shown in FIG. 2, when the user 200 is seated in the chair 202 infront of the workstation 102 and the user's hands are grasping the leftand right hand controllers 114 and 118, the user's feet will generallybe extended away from the chair forward of the user's hands. Thisposition facilitates ergonomic operation of the first and second pedals300 and 304.

Referring back to FIG. 3, in the embodiment shown the foot pedalapparatus 130 includes a pair of slide mounts 308 and 310 havingrespective tracks 312 and 314. The platform 132 is attached between theslide mounts, which are in turn mounted via the respective tracks 312and 314 to the wheeled base 124 (shown in FIG. 1 and FIG. 2). The slidemounting of the foot pedal apparatus 130 to the wheeled base 124facilitates positioning of the platform 132 in accordance with thepreferences of the user 200 to permit the user's feet to be extendedaway from the chair for ergonomic operation of the first and secondpedals 300 and 304. The tracks 312 and 314 on the respective slidemounts 308 and 310 provide for adjustment of the foot pedal apparatus130 toward or away from the user 200 to facilitate a variety of users ofdiffering height and/or differing preferences.

Still referring to FIG. 3, in the embodiment shown the foot pedalapparatus 130 include additional pedals mounted on the platform 132. Thefoot pedal apparatus 130 includes a third pedal 320 mounted on theplatform 132 and having an upwardly disposed actuation surface 322. Thethird pedal 320 is mounted adjacent to the first pedal 300 and has acorresponding orientation. The foot pedal apparatus 130 further includesa fourth pedal 324 mounted vertically elevated with respect to the thirdpedal 320 and having an upwardly disposed actuation surface 326 foractuation by the forefoot portion 500 of the user's foot. The fourthpedal 324 is adjacent to the second pedal 304 and correspondinglyoriented.

In the embodiment shown the foot pedal apparatus 130 includes anadditional fifth pedal 328 mounted on the platform 132 and having anupwardly disposed actuation surface 330. The fifth pedal 328 is spacedapart from the first, second, third and fourth pedals 300, 304, 320 and324. In this embodiment, the first and second pedals 300 and 304 aremounted on the platform for accessibility by the right foot 204 of theuser 200. The additional fifth pedal 328 is mounted on the platform 132for accessibility by the other foot of the user 200. The third pedal 320and fourth pedal 324 would generally be ergonomically accessible by theuser 200 moving the same right foot 204 between the respective actuationsurfaces of these adjacently located pedals. In the embodiment shown,the pedals are located closely adjacent on the platform 132 such thatminimal side to side movement of the user's foot 204 is required foractuating either the left pedals 300, 304 or right pedals 320, 324. Inthe embodiment shown, the first pedal 300 and third pedal 320 areseparated by a barrier 332, which protrudes slightly above therespective actuation surfaces 302 and 322 and acts to prevent the user'sfoot inadvertently actuating both pedals at once and acts as a hapticfeedback to help position the user's foot without having to look awayfrom the display 122. A similar barrier is included between the secondpedal 304 and fourth pedal 324.

Each of the first, second, third, fourth, and fifth pedals 300, 304,320, 324, and 328, when actuated, produce respective input signals,transmitted via the interface cable 120 to the robotic surgery apparatus104 for controlling operation (FIG. 2). In embodiments where theinstrument 106 includes left and right instruments, the pedals 300 and304 may be associated with the right instrument and the pedals 320 and324 may be associated with the left instrument.

Some instruments used in robotic surgery are configured to receive anelectrical current to provide cutting and/or coagulation functions. Theelectrical current may be supplied by an electrosurgical unit (notshown) at radio frequencies (RF) and concentrated on tissue beingmanipulated by the instruments to cause coagulation of blood and/orcauterization of blood vessels in tissue at lower current density andparting of tissue at higher current density. In some embodiments thepedals 300 and 320 are configured to cause low current to be supplied tothe respective right and left instruments for coagulation purposes whilethe upper pedals 304 and 324 are configured to cause high current to besupplied to the respective right and left instruments for cuttingpurposes. In electrosurgical cutting, tissue is parted throughgeneration of high temperatures (typically in the region of 400° C.)that cause tissue to vaporize as the instrument is passed through thetissue. The electrosurgical cut requires only minimal force whencompared to conventional scalpel or scissor cuts as it is the currentthat delivers the energy for performing the work of the cutting.

The high temperatures also have the effect of sealing the incision bycauterizing vessels and causing coagulation of blood. Lower currentdensity may result in temperatures high enough to cause coagulationand/or cauterization but insufficient to produce vaporization of tissue.Examples of instruments that may be accommodated by the instrument mount108 include scissors, a Maryland dissector, and a hook cautery.

In the robotic surgery system embodiment shown in FIG. 1, the fifthpedal 328 acts as a clutch pedal configured to inhibit further movementof the instrument 106 when depressed by the foot of the user 200. Whenthe fifth pedal 328 is depressed, the right and left hand controllers114 and 118 are decoupled from the instrument 106. Further movement ofthe hand controllers therefore does not cause movement of the instrument106 until the fifth pedal 328 is again released.

In other robotic surgery systems the foot pedal apparatus 130 may bedifferently configured and may have a fewer or greater number of pedals.

The foot pedal apparatus 130 is shown in a left side perspective view inFIG. 6 with part of a cover of the slide mount 310 cut away. Referringto FIG. 6, in the embodiment shown, the platform 132 is pivotablymounted between the respective slide mounts 308 and 310 on a circularrod 600 to facilitate raising the platform with respect to the floorsurface 126 when moving the workstation 102. The rod 600 extends betweenthe slide mounts 308 and 310 and is able to rotate freely. In FIG. 6 theplatform 132 is shown in a lowered position making the foot pedalsaccessible for operation. Referring back to FIG. 4, the platform 132 hasa pair of pivots mounted to an underside 404 of the platform. One of thepivots is shown in FIG. 4 at 406. The pivot 406 has a base portion 408mounted to the underside 404 of the platform 132 and also includes aclamp portion 410. The base portion 408 and clamp portion 410 areconfigured to provide an opening 412, which receives the rod 600 formounting the platform 132 to the rod. The clamp portion 410 engages therod 600 and facilitates a pivoting motion of the platform between theslide mounts 308 and 310.

Referring to FIG. 6, the foot pedal apparatus 130 also includes a springpin 602 that extends through the slide mount 310 and is configured tosecure the platform 132 in the raised position. The foot pedal apparatus130 is shown in FIG. 7 with the platform 132 in the raised position, thespring pin 602 engaging with an opening in the side of the platform toretain the platform in the raised position for transport of theworkstation 102. When the spring pin 602 is disengaged, the platform 132is able to pivot downwardly toward the floor surface 126 to make thepedals accessible for operation, as shown in FIG. 6.

Referring to FIG. 8, in some cases the user 200 may prefer a slightlyreclining seated position where a seat portion 800 is disposed at a seatangle ϑ, with respect to the floor surface 126. Under these recliningconditions, the engagement of the first and second pedals 300 and 304 bythe foot 204 of the user 200 may be as depicted in schematic view inFIG. 8. The forefoot portion 500 of the user's foot 204 would naturallypivot upwardly about the heel 502, especially as the user extends thechair 202 away from the workstation 102 causing their legs to stretchout. The amount the user may extend the chair 202 away from theworkstation console 102 would be dependent on the length of the user'sarms and a reach of the input device 110. In this embodiment the firstpedal 300 and second pedal 304 are configured to facilitate an increasein the angles α₁ and α₂ of the actuation surfaces 302 and 306 tofacilitate ergonomic operation of the first and second pedals by thefeet of the user 200 when seated in the chair 202 having the seatportion 800 at the reclining seat angle ϑ. The increase in the angles α₁and α₂ may generally correspond to the seat angle ϑ. For example, insome embodiments the angles α₁ and α₂ may simply be increased by anamount corresponding to the seat angle ϑ. In other embodiments theincrease in the angles α₁ and α₂ may be in proportion to the seat angleϑ.

To facilitate changing the angles α₁ and α₂, the foot pedal apparatus130 may be configured to permit pivoting about a proximal portion of theplatform 132. For example, a pivot similar to the pivot 406 shown inFIG. 4 may be mounted at a proximal location on the platform 132 (i.e.below the first pedal 300 in FIG. 4) thus facilitating tilting of theplatform to increase the respective angles of the actuation surfaces 302and 306. In some embodiments the actuation surface 306 of the secondpedal may be oriented at an angle of about 14° with respect to a seatportion of a chair for seating the user and the actuation surface 302 ofthe first pedal may be oriented at an angle of about 7° with respect tothe seat portion.

The above disclosed embodiments provide a foot pedal apparatus for theworkstation configured for ergonomic operation by the user in reducingthe mounted depth of the apparatus which allows the foot pedals to belocated in an optimal ergonomic position for the user. Further, theangle of the pedals facilitates comfortable operation for users in avariety of preferred seated positions. The angles of the pedals incombination with the mounted depth also prevent inadvertent actuation ofa lower pedal when operating an upper pedal.

While specific embodiments have been described and illustrated, suchembodiments should be considered illustrative of the disclosure only andnot as limiting the disclosure as construed in accordance with theaccompanying claims.

What is claimed is:
 1. A foot pedal apparatus for use with a workstationlocated on a floor surface and operated by a seated user in controllinga robotic surgery system, the apparatus comprising: first side mountcomprising a first track and a second side mount comprising a secondtrack, the first and second side mounts configured to be attached to abase of the workstation, and the first and second tracks configured topermit forward and backward movement of the first and second sidemounts, the first side mount comprising a fastener; a platformcomprising a first side and a second side opposite the first side, thefirst side of the platform mounted on a rod extending between the firstand second side mounts, the platform configured to pivot on the rodbetween a first position in which the platform is lowered toward thefloor surface to permit a user to engage first and second pedals and asecond position in which at least the second side of the platform israised away from the floor surface to permit transport of theworkstation, the platform comprising a side surface with an openingconfigured to receive the fastener of the first side mount to retain theplatform in the second position; the first pedal mounted on the platformand including an upwardly disposed actuation surface; and the secondpedal including: a top surface including an upwardly disposed actuationsurface, and a bottom surface at least partially mounted to the platformat a location vertically elevated with respect to the first pedal, aproximate portion of the bottom surface of the second pedal positionedabove and overlapping a distal portion of the upwardly disposedactuation surface of the first pedal such that the first and secondpedals have a mounted depth in a direction away from the user that isless than a sum of the respective individual depths of the first andsecond pedals.
 2. The apparatus of claim 1 wherein the second pedal isoriented at an oblique angle relative to the floor surface such that thesecond pedal being oriented at the oblique angle facilitates engagementof the actuation surface of the second pedal by a forefoot portion ofthe user's foot while the user's heel is resting on the floor surfaceand acting as a pivot for movement of the user's foot.
 3. The apparatusof claim 2 wherein the first pedal is oriented at an angle to the floorsurface and the overlap between the proximate portion of the secondpedal and the distal portion of the first pedal is selected to preventinadvertent engagement of the actuation surface of the first pedal whileactuating the second pedal.
 4. The apparatus of claim 3 wherein theoverlap between the proximate portion of the second pedal and the distalportion of the first pedal is selected to cause the mounted depth of thefirst and second pedals to be 200 mm.
 5. The apparatus of claim 2wherein the actuation surface of the second pedal is oriented at anangle of 14° with respect to the floor surface.
 6. The apparatus ofclaim 2 wherein the actuation surface of the first pedal is oriented atan angle of 7° with respect to the floor surface.
 7. The apparatus ofclaim 2 wherein the platform is pivotably mounted to the workstation ata pivot point on the platform proximally located with respect to theuser and is configured to facilitate tilting of the platform to increaserespective angles of the actuation surfaces of the first and secondpedals with respect to the floor surface such that the respective anglesgenerally correspond to a reclining angle of a seat portion of a chair,wherein the respective angles generally corresponding to the recliningangle facilitate ergonomic operation of the first and second pedals byfeet of the user seated in the chair.
 8. The apparatus of claim 7wherein the actuation surface of the second pedal is oriented at anangle of 14° with respect to the seat portion of the chair and whereinthe actuation surface of the first pedal is oriented at an angle of 7°with respect to the seat portion.
 9. The apparatus of claim 1 whereinthe overlap is at least 12 mm.
 10. The apparatus of claim 1 wherein theworkstation comprises an input device and hand controllers operable togenerate input signals, and wherein the platform is configured to attachto the workstation at a position forward of the user's hands when seatedin a chair in front of the workstation and grasping the hand controllersto permit the user's feet to be extended away from the chair forergonomic operation of the first and second pedals.
 11. The apparatus ofclaim 10 wherein the first and second tracks are operable to facilitatepositioning the first and second pedals in an ergonomic position inaccordance with the user's preferences.
 12. The apparatus of claim 10further comprising at least one additional pedal mounted on the platformspaced apart from the first and second pedals, and wherein the first andsecond pedals are mounted on the platform for accessibility by one footof the user while the at least one additional pedal is mounted on theplatform for accessibility by the other foot of the user.
 13. Theapparatus of claim 10 further comprising: a third pedal mounted on theplatform and including an upwardly disposed actuation surface, the thirdpedal being adjacent to the first pedal and correspondingly oriented;and a fourth pedal mounted vertically elevated with respect to the thirdpedal and including an upwardly disposed actuation surface, the fourthpedal being adjacent to the second pedal and correspondingly oriented.14. The apparatus of claim 13 wherein each of the first, second, thirdand fourth pedals, when actuated, produce respective input signals forcontrolling the robotic surgery system.
 15. The apparatus of claim 13wherein the first, second, third and fourth pedals are mounted adjacenton the platform for accessibility by the same foot of the user.
 16. Theapparatus of claim 15 further comprising a first barrier disposedbetween the first and third pedals and a second barrier disposed betweenthe second and fourth pedals, the first barriers protruding above theactuation surfaces of the first and third pedals, and the second barrierprotruding above the actuation surfaces of the second and fourth pedals.17. The apparatus of claim 1 wherein the first pedal is oriented at anoblique angle relative to the floor surface such that the first pedalbeing oriented at the oblique angle minimizes inadvertent engagement ofthe actuation surface of the first pedal by a forefoot portion of theuser's foot when actuating the second pedal while the user's heel isresting on the floor surface and acting as a pivot for movement of theuser's foot.
 18. The apparatus of claim 1 wherein the actuation surfaceof the first pedal is oriented at an angle of 7° relative to floorsurface and the actuation surface of the second pedal is oriented at anangle of 14° relative to the floor surface.
 19. The apparatus of claim 1wherein the platform comprises first and second protrusions positionedon respective sides of a bottom portion of the platform, each of thefirst and second protrusions comprising an opening housing the rod. 20.The apparatus of claim 19 wherein each of the first and secondprotrusions comprises a base and a clamp connected to the base.
 21. Theapparatus of claim 1 wherein the fastener comprises a spring pinconfigured to engage with the opening to maintain the platform in thesecond position and to disengage from the opening to cause the platformto pivot to the first position.
 22. The apparatus of claim 1 wherein:vertical position of the second side in the second position is higherrelative to the floor surface than vertical position of the second sidein the first position; and the vertical position of the second side inthe second position is higher relative to the floor surface thanvertical position of the first side in the second position.
 23. Theapparatus of claim 1 wherein the first and second tracks are configuredto be received in first and second rails of the workstation.